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<div class="title">tsdf_volume.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_KINFU_TSDF_VOLUME_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_KINFU_TSDF_VOLUME_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/tsdf_buffer.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/point_intensity.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">namespace </span>kinfuLS</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">   62</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">TsdfVolume</a> </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;TsdfVolume&gt; Ptr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">   68</a></span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">PointType</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_normal.html">Normal</a>  <a class="code" href="structpcl_1_1_normal.html">NormalType</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">   72</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">Header</a></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          Eigen::Vector3i resolution;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          Eigen::Vector3f volume_size;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <span class="keywordtype">int</span> volume_element_size, weights_element_size;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">Header</a> ()</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            : resolution (0,0,0),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;              volume_size (0,0,0),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;              volume_element_size (<span class="keyword">sizeof</span>(<span class="keywordtype">float</span>)),</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;              weights_element_size (<span class="keyword">sizeof</span>(<span class="keywordtype">short</span>))</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          {};</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">Header</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;res, <span class="keyword">const</span> Eigen::Vector3f &amp;size)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            : resolution (res),</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;              volume_size (size),</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;              volume_element_size (<span class="keyword">sizeof</span>(<span class="keywordtype">float</span>)),</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;              weights_element_size (<span class="keyword">sizeof</span>(<span class="keywordtype">short</span>))</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          {};</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html#a6f26f1a0192041fa87d057041faf8b7e">   94</a></span>&#160;          <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html#a6f26f1a0192041fa87d057041faf8b7e">getVolumeSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> resolution[0] * resolution[1] * resolution[2]; };</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <span class="keyword">friend</span> <span class="keyword">inline</span> std::ostream&amp;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          operator &lt;&lt; (std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">Header</a>&amp; h)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            os &lt;&lt; <span class="stringliteral">&quot;(resolution = &quot;</span> &lt;&lt; h.resolution.transpose() &lt;&lt; <span class="stringliteral">&quot;, volume size = &quot;</span> &lt;&lt; h.volume_size.transpose() &lt;&lt; <span class="stringliteral">&quot;)&quot;</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            <span class="keywordflow">return</span> (os);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        };        </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">enum</span> { DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 };</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;              </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aa2a91af07bc4694381b6de8676fee478">  113</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aa2a91af07bc4694381b6de8676fee478">TsdfVolume</a> (<span class="keyword">const</span> Eigen::Vector3i&amp; resolution);           </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;              </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5a8d6e605ffdbcfc9228679604cab033">  119</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5a8d6e605ffdbcfc9228679604cab033">setSize</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; size);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ab837c09a09bab3ecb69da7c2acb0d481">  125</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ab837c09a09bab3ecb69da7c2acb0d481">setTsdfTruncDist</a> (<span class="keywordtype">float</span> distance);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;int&gt;</a> </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a722b992a0d24ac598c8721d34f25f895">  129</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a722b992a0d24ac598c8721d34f25f895">data</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keyword">const</span> Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a0d3d6e74685957748835c83547fc2cad">  133</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a0d3d6e74685957748835c83547fc2cad">getSize</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;              </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keyword">const</span> Eigen::Vector3i&amp;</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acaee76b8eab6f7c49ebecac910a4243a">  137</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acaee76b8eab6f7c49ebecac910a4243a">getResolution</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keyword">const</span> Eigen::Vector3f</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acf4322c3864ddac7038cbcc29a477df3">  141</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acf4322c3864ddac7038cbcc29a477df3">getVoxelSize</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af03d21b79c89d4b6f18295ce49f8fb14">  145</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af03d21b79c89d4b6f18295ce49f8fb14">getTsdfTruncDist</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aabc12a6af5ac60742c13f4c63e0546f6">  149</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aabc12a6af5ac60742c13f4c63e0546f6">reset</a> ();</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a88a992bc7d5284b9b9532f9cad00c75f">  156</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a88a992bc7d5284b9b9532f9cad00c75f">fetchCloudHost</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointType&gt;</a>&amp; cloud, <span class="keywordtype">bool</span> connected26 = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a919b00e9381e3527a0cb50ab304d9348">  163</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a919b00e9381e3527a0cb50ab304d9348">fetchCloudHost</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZI&gt;</a>&amp; cloud, <span class="keywordtype">bool</span> connected26 = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a></div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a4a1ac38b3b6819ded1c3a8e63677d240">  170</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a4a1ac38b3b6819ded1c3a8e63677d240">fetchCloud</a> (<a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a>&amp; cloud_buffer) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a572f56b7188a33899b79a31d657c4c22">  177</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a572f56b7188a33899b79a31d657c4c22">pushSlice</a> (<span class="keyword">const</span> PointCloud&lt;PointXYZI&gt;::Ptr existing_data_cloud, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a>* buffer) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6dcb89add51825fd927ac8ebf3f99d6f">  189</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6dcb89add51825fd927ac8ebf3f99d6f">fetchSliceAsCloud</a> (<a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a>&amp; cloud_buffer_xyz, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a>&amp; cloud_buffer_intensity, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a>* buffer, <span class="keywordtype">int</span> shiftX, <span class="keywordtype">int</span> shiftY, <span class="keywordtype">int</span> shiftZ ) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aed035aa456067980cd33d4f5d46c4dc3">  197</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aed035aa456067980cd33d4f5d46c4dc3">fetchNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a>&amp; cloud, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a>&amp; normals) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a283e8c1208b00aec411da6f73b93f45d">  204</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a283e8c1208b00aec411da6f73b93f45d">fetchNormals</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointType&gt;</a>&amp; cloud, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;NormalType&gt;</a>&amp; normals) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5c03dc8e7fdb6d772e98925ed3056fff">  210</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5c03dc8e7fdb6d772e98925ed3056fff">downloadTsdf</a> (std::vector&lt;float&gt;&amp; tsdf) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a110d678e4928b8e576fe1671700c262d">  214</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a110d678e4928b8e576fe1671700c262d">downloadTsdfLocal</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a06377b70922b6fa5aa2f7b2b83313b34">  221</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a06377b70922b6fa5aa2f7b2b83313b34">downloadTsdfAndWeights</a> (std::vector&lt;float&gt;&amp; tsdf, std::vector&lt;short&gt;&amp; weights) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ae516b7f78d3646ed1819cfa46d66d970">  225</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ae516b7f78d3646ed1819cfa46d66d970">downloadTsdfAndWeightsLocal</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a09d0604eb79abcf68e49ad7296e12cbd">  228</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a09d0604eb79abcf68e49ad7296e12cbd">releaseVolume</a> () {volume_.release();}</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordtype">void</span> print_warn(<span class="keyword">const</span> <span class="keywordtype">char</span>* arg1, <span class="keywordtype">size_t</span> size);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a1e72e426ac70a99d71a9a447c2eed2bb">  234</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a1e72e426ac70a99d71a9a447c2eed2bb">setHeader</a> (<span class="keyword">const</span> Eigen::Vector3i&amp; resolution, <span class="keyword">const</span> Eigen::Vector3f&amp; volume_size) {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          header_ = <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">Header</a> (resolution, volume_size);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          <span class="keywordflow">if</span> (volume_host_-&gt;size() != this-&gt;size())</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            pcl::console::print_warn (<span class="stringliteral">&quot;[TSDFVolume::setHeader] Header volume size (%d) doesn&#39;t fit underlying data size (%d)&quot;</span>, volume_host_-&gt;size(), size());</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a025f883e6c30096fffa6df505acd5a86">  242</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a025f883e6c30096fffa6df505acd5a86">size</a> ()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;          <span class="keywordflow">return</span> header_.getVolumeSize ();          </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ac7993dd6f8f6e23a45ac22ba2a50be13">  248</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ac7993dd6f8f6e23a45ac22ba2a50be13">convertToTsdfCloud</a> (pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr &amp;cloud) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Vector3i &amp;</div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af26eab160f60904ea2e3b4e5bca64488">  252</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af26eab160f60904ea2e3b4e5bca64488">gridResolution</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> header_.resolution; };</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af1c033de3c839aaab7f74fb4d993178c">  256</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af1c033de3c839aaab7f74fb4d993178c">save</a> (<span class="keyword">const</span> std::string &amp;filename = <span class="stringliteral">&quot;tsdf_volume.dat&quot;</span>, <span class="keywordtype">bool</span> binary = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a64bed9e25d8ad2d3e1f3e3e57fb4b1dc">  260</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a64bed9e25d8ad2d3e1f3e3e57fb4b1dc">load</a> (<span class="keyword">const</span> std::string &amp;filename, <span class="keywordtype">bool</span> binary = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acecede93e229bc3538ab57541ccc421a">  264</a></span>&#160;        Eigen::Vector3f <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acecede93e229bc3538ab57541ccc421a">size_</a>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        </div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ae1dacdada35ae6241a4873f80347eafc">  267</a></span>&#160;        Eigen::Vector3i <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ae1dacdada35ae6241a4873f80347eafc">resolution_</a>;      </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ad46eb1027eb5f5c350960b2c729be3b5">  270</a></span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;int&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ad46eb1027eb5f5c350960b2c729be3b5">volume_</a>;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6607d79e9bb1b76e50e8c2f5ab4e23f1">  273</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6607d79e9bb1b76e50e8c2f5ab4e23f1">tranc_dist_</a>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        <span class="comment">// The following member are resulting from the merge of TSDFVolume with TsdfVolume class.</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;float&gt; &gt; VolumePtr;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;short&gt; &gt; WeightsPtr;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">Header</a> header_;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        VolumePtr volume_host_;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        WeightsPtr weights_host_;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;EIGEN_MAKE_ALIGNED_OPERATOR_NEW        </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      };</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;}</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_KINFU_TSDF_VOLUME_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D&lt; int &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html">pcl::gpu::kinfuLS::TsdfVolume</a></div><div class="ttdoc">TsdfVolume class</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a025f883e6c30096fffa6df505acd5a86"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a025f883e6c30096fffa6df505acd5a86">pcl::gpu::kinfuLS::TsdfVolume::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Returns overall number of voxels in grid stored on host</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a06377b70922b6fa5aa2f7b2b83313b34"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a06377b70922b6fa5aa2f7b2b83313b34">pcl::gpu::kinfuLS::TsdfVolume::downloadTsdfAndWeights</a></div><div class="ttdeci">void downloadTsdfAndWeights(std::vector&lt; float &gt; &amp;tsdf, std::vector&lt; short &gt; &amp;weights) const</div><div class="ttdoc">Downloads TSDF volume and according voxel weights from GPU memory</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a09d0604eb79abcf68e49ad7296e12cbd"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a09d0604eb79abcf68e49ad7296e12cbd">pcl::gpu::kinfuLS::TsdfVolume::releaseVolume</a></div><div class="ttdeci">void releaseVolume()</div><div class="ttdoc">Releases tsdf buffer on GPU</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a0d3d6e74685957748835c83547fc2cad"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a0d3d6e74685957748835c83547fc2cad">pcl::gpu::kinfuLS::TsdfVolume::getSize</a></div><div class="ttdeci">const Eigen::Vector3f &amp; getSize() const</div><div class="ttdoc">Returns volume size in meters</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a110d678e4928b8e576fe1671700c262d"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a110d678e4928b8e576fe1671700c262d">pcl::gpu::kinfuLS::TsdfVolume::downloadTsdfLocal</a></div><div class="ttdeci">void downloadTsdfLocal() const</div><div class="ttdoc">Downloads tsdf volume from GPU memory to local CPU buffer</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a1e72e426ac70a99d71a9a447c2eed2bb"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a1e72e426ac70a99d71a9a447c2eed2bb">pcl::gpu::kinfuLS::TsdfVolume::setHeader</a></div><div class="ttdeci">void setHeader(const Eigen::Vector3i &amp;resolution, const Eigen::Vector3f &amp;volume_size)</div><div class="ttdoc">Set the header for data stored on host directly. Useful if directly writing into volume and weights</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:234</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a283e8c1208b00aec411da6f73b93f45d"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a283e8c1208b00aec411da6f73b93f45d">pcl::gpu::kinfuLS::TsdfVolume::fetchNormals</a></div><div class="ttdeci">void fetchNormals(const DeviceArray&lt; PointType &gt; &amp;cloud, DeviceArray&lt; NormalType &gt; &amp;normals) const</div><div class="ttdoc">Computes normals as gradient of tsdf for given points</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a4a1ac38b3b6819ded1c3a8e63677d240"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a4a1ac38b3b6819ded1c3a8e63677d240">pcl::gpu::kinfuLS::TsdfVolume::fetchCloud</a></div><div class="ttdeci">DeviceArray&lt; PointType &gt; fetchCloud(DeviceArray&lt; PointType &gt; &amp;cloud_buffer) const</div><div class="ttdoc">Generates cloud using GPU in connected6 mode only</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a572f56b7188a33899b79a31d657c4c22"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a572f56b7188a33899b79a31d657c4c22">pcl::gpu::kinfuLS::TsdfVolume::pushSlice</a></div><div class="ttdeci">void pushSlice(const PointCloud&lt; PointXYZI &gt;::Ptr existing_data_cloud, const tsdf_buffer *buffer) const</div><div class="ttdoc">Push a point cloud of previously scanned tsdf slice to the TSDF volume</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a5a8d6e605ffdbcfc9228679604cab033"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5a8d6e605ffdbcfc9228679604cab033">pcl::gpu::kinfuLS::TsdfVolume::setSize</a></div><div class="ttdeci">void setSize(const Eigen::Vector3f &amp;size)</div><div class="ttdoc">Sets Tsdf volume size for each dimention</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a5c03dc8e7fdb6d772e98925ed3056fff"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a5c03dc8e7fdb6d772e98925ed3056fff">pcl::gpu::kinfuLS::TsdfVolume::downloadTsdf</a></div><div class="ttdeci">void downloadTsdf(std::vector&lt; float &gt; &amp;tsdf) const</div><div class="ttdoc">Downloads tsdf volume from GPU memory.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a64bed9e25d8ad2d3e1f3e3e57fb4b1dc"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a64bed9e25d8ad2d3e1f3e3e57fb4b1dc">pcl::gpu::kinfuLS::TsdfVolume::load</a></div><div class="ttdeci">bool load(const std::string &amp;filename, bool binary=true)</div><div class="ttdoc">Loads local volume from file</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a6607d79e9bb1b76e50e8c2f5ab4e23f1"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6607d79e9bb1b76e50e8c2f5ab4e23f1">pcl::gpu::kinfuLS::TsdfVolume::tranc_dist_</a></div><div class="ttdeci">float tranc_dist_</div><div class="ttdoc">tsdf truncation distance</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:273</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a6dcb89add51825fd927ac8ebf3f99d6f"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a6dcb89add51825fd927ac8ebf3f99d6f">pcl::gpu::kinfuLS::TsdfVolume::fetchSliceAsCloud</a></div><div class="ttdeci">size_t fetchSliceAsCloud(DeviceArray&lt; PointType &gt; &amp;cloud_buffer_xyz, DeviceArray&lt; float &gt; &amp;cloud_buffer_intensity, const tsdf_buffer *buffer, int shiftX, int shiftY, int shiftZ) const</div><div class="ttdoc">Generates cloud using GPU in connected6 mode only</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a722b992a0d24ac598c8721d34f25f895"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a722b992a0d24ac598c8721d34f25f895">pcl::gpu::kinfuLS::TsdfVolume::data</a></div><div class="ttdeci">DeviceArray2D&lt; int &gt; data() const</div><div class="ttdoc">Returns tsdf volume container that point to data in GPU memroy</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a859e9c389e10be47ba94d785eeae975f"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a859e9c389e10be47ba94d785eeae975f">pcl::gpu::kinfuLS::TsdfVolume::PointType</a></div><div class="ttdeci">PointXYZ PointType</div><div class="ttdoc">Supported Point Types</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:68</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a88a992bc7d5284b9b9532f9cad00c75f"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a88a992bc7d5284b9b9532f9cad00c75f">pcl::gpu::kinfuLS::TsdfVolume::fetchCloudHost</a></div><div class="ttdeci">void fetchCloudHost(PointCloud&lt; PointType &gt; &amp;cloud, bool connected26=false) const</div><div class="ttdoc">Generates cloud using CPU (downloads volumetric representation to CPU memory)</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_a919b00e9381e3527a0cb50ab304d9348"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#a919b00e9381e3527a0cb50ab304d9348">pcl::gpu::kinfuLS::TsdfVolume::fetchCloudHost</a></div><div class="ttdeci">void fetchCloudHost(PointCloud&lt; PointXYZI &gt; &amp;cloud, bool connected26=false) const</div><div class="ttdoc">Generates cloud using CPU (downloads volumetric representation to CPU memory)</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_aa2a91af07bc4694381b6de8676fee478"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aa2a91af07bc4694381b6de8676fee478">pcl::gpu::kinfuLS::TsdfVolume::TsdfVolume</a></div><div class="ttdeci">TsdfVolume(const Eigen::Vector3i &amp;resolution)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_aabc12a6af5ac60742c13f4c63e0546f6"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aabc12a6af5ac60742c13f4c63e0546f6">pcl::gpu::kinfuLS::TsdfVolume::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Resets tsdf volume data to uninitialized state</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_ab837c09a09bab3ecb69da7c2acb0d481"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ab837c09a09bab3ecb69da7c2acb0d481">pcl::gpu::kinfuLS::TsdfVolume::setTsdfTruncDist</a></div><div class="ttdeci">void setTsdfTruncDist(float distance)</div><div class="ttdoc">Sets Tsdf truncation distance. Must be greater than 2 * volume_voxel_size</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_ac7993dd6f8f6e23a45ac22ba2a50be13"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ac7993dd6f8f6e23a45ac22ba2a50be13">pcl::gpu::kinfuLS::TsdfVolume::convertToTsdfCloud</a></div><div class="ttdeci">void convertToTsdfCloud(pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;cloud) const</div><div class="ttdoc">Converts volume stored on host to cloud of TSDF values</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_acaee76b8eab6f7c49ebecac910a4243a"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acaee76b8eab6f7c49ebecac910a4243a">pcl::gpu::kinfuLS::TsdfVolume::getResolution</a></div><div class="ttdeci">const Eigen::Vector3i &amp; getResolution() const</div><div class="ttdoc">Returns volume resolution</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_acecede93e229bc3538ab57541ccc421a"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acecede93e229bc3538ab57541ccc421a">pcl::gpu::kinfuLS::TsdfVolume::size_</a></div><div class="ttdeci">Eigen::Vector3f size_</div><div class="ttdoc">tsdf volume size in meters</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:264</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_acf4322c3864ddac7038cbcc29a477df3"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#acf4322c3864ddac7038cbcc29a477df3">pcl::gpu::kinfuLS::TsdfVolume::getVoxelSize</a></div><div class="ttdeci">const Eigen::Vector3f getVoxelSize() const</div><div class="ttdoc">Returns volume voxel size in meters</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_ad46eb1027eb5f5c350960b2c729be3b5"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ad46eb1027eb5f5c350960b2c729be3b5">pcl::gpu::kinfuLS::TsdfVolume::volume_</a></div><div class="ttdeci">DeviceArray2D&lt; int &gt; volume_</div><div class="ttdoc">tsdf volume data container</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_ae1dacdada35ae6241a4873f80347eafc"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ae1dacdada35ae6241a4873f80347eafc">pcl::gpu::kinfuLS::TsdfVolume::resolution_</a></div><div class="ttdeci">Eigen::Vector3i resolution_</div><div class="ttdoc">tsdf volume resolution</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:267</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_ae516b7f78d3646ed1819cfa46d66d970"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#ae516b7f78d3646ed1819cfa46d66d970">pcl::gpu::kinfuLS::TsdfVolume::downloadTsdfAndWeightsLocal</a></div><div class="ttdeci">void downloadTsdfAndWeightsLocal() const</div><div class="ttdoc">Downloads TSDF volume and according voxel weights from GPU memory to local CPU buffers</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_aed035aa456067980cd33d4f5d46c4dc3"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#aed035aa456067980cd33d4f5d46c4dc3">pcl::gpu::kinfuLS::TsdfVolume::fetchNormals</a></div><div class="ttdeci">void fetchNormals(const DeviceArray&lt; PointType &gt; &amp;cloud, DeviceArray&lt; PointType &gt; &amp;normals) const</div><div class="ttdoc">Computes normals as gradient of tsdf for given points</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_af03d21b79c89d4b6f18295ce49f8fb14"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af03d21b79c89d4b6f18295ce49f8fb14">pcl::gpu::kinfuLS::TsdfVolume::getTsdfTruncDist</a></div><div class="ttdeci">float getTsdfTruncDist() const</div><div class="ttdoc">Returns tsdf truncation distance in meters</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_af1c033de3c839aaab7f74fb4d993178c"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af1c033de3c839aaab7f74fb4d993178c">pcl::gpu::kinfuLS::TsdfVolume::save</a></div><div class="ttdeci">bool save(const std::string &amp;filename=&quot;tsdf_volume.dat&quot;, bool binary=true) const</div><div class="ttdoc">Saves local volume buffer to file</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_html_af26eab160f60904ea2e3b4e5bca64488"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume.html#af26eab160f60904ea2e3b4e5bca64488">pcl::gpu::kinfuLS::TsdfVolume::gridResolution</a></div><div class="ttdeci">const Eigen::Vector3i &amp; gridResolution() const</div><div class="ttdoc">Returns the voxel grid resolution</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:252</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html">pcl::gpu::kinfuLS::TsdfVolume::Header</a></div><div class="ttdoc">Structure storing voxel grid resolution, volume size (in mm) and element_size of data stored on host</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:73</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header_html_a6f26f1a0192041fa87d057041faf8b7e"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_tsdf_volume_1_1_header.html#a6f26f1a0192041fa87d057041faf8b7e">pcl::gpu::kinfuLS::TsdfVolume::Header::getVolumeSize</a></div><div class="ttdeci">size_t getVolumeSize() const</div><div class="ttdoc">Get the size of data stored on host</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:94</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a></div><div class="ttdoc">Structure to handle buffer addresses</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:52</div></div>
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